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<div class="title">pcl_base.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_PCL_IMPL_BASE_HPP_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_PCL_IMPL_BASE_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;cstddef&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">   46</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">pcl::PCLBase&lt;PointT&gt;::PCLBase</a> ()</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  : input_ ()</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  , indices_ ()</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  , use_indices_ (false)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  , fake_indices_ (false)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">   56</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">pcl::PCLBase&lt;PointT&gt;::PCLBase</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&amp; base)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  : input_ (base.input_)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  , indices_ (base.indices_)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  , use_indices_ (base.use_indices_)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  , fake_indices_ (base.fake_indices_)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">   66</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase&lt;PointT&gt;::setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{ </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  input_ = cloud; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">   73</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase&lt;PointT&gt;::setIndices</a> (<span class="keyword">const</span> IndicesPtr &amp;indices)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  indices_ = indices;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">   79</a></span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">   82</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase&lt;PointT&gt;::setIndices</a> (<span class="keyword">const</span> IndicesConstPtr &amp;indices)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  indices_.reset (<span class="keyword">new</span> std::vector&lt;int&gt; (*indices));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">   91</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase&lt;PointT&gt;::setIndices</a> (<span class="keyword">const</span> PointIndicesConstPtr &amp;indices)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  indices_.reset (<span class="keyword">new</span> std::vector&lt;int&gt; (indices-&gt;indices));</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#a1952d7101f3942bac3b69ed55c1ca7ea">   95</a></span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">  100</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase&lt;PointT&gt;::setIndices</a> (<span class="keywordtype">size_t</span> row_start, <span class="keywordtype">size_t</span> col_start, <span class="keywordtype">size_t</span> nb_rows, <span class="keywordtype">size_t</span> nb_cols)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;{</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">if</span> ((nb_rows &gt; input_-&gt;height) || (row_start &gt; input_-&gt;height))</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] cloud is only %d height&quot;</span>, input_-&gt;height);</div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">  105</a></span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">if</span> ((nb_cols &gt; input_-&gt;width) || (col_start &gt; input_-&gt;width))</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] cloud is only %d width&quot;</span>, input_-&gt;width);</div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">  111</a></span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">size_t</span> row_end = row_start + nb_rows;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">if</span> (row_end &gt; input_-&gt;height)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">  117</a></span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] %d is out of rows range %d&quot;</span>, row_end, input_-&gt;height);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordtype">size_t</span> col_end = col_start + nb_cols;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">if</span> (col_end &gt; input_-&gt;width)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] %d is out of columns range %d&quot;</span>, col_end, input_-&gt;width);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">  128</a></span>&#160;  indices_.reset (<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  indices_-&gt;reserve (nb_cols * nb_rows);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = row_start; i &lt; row_end; i++)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> j = col_start; j &lt; col_end; j++)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      indices_-&gt;push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((i * input_-&gt;width) + j));</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  fake_indices_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  use_indices_  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;}</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">  139</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase&lt;PointT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// Check if input was set</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordflow">if</span> (!input_)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// If no point indices have been given, construct a set of indices for the entire input point cloud</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">if</span> (!indices_)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    fake_indices_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    indices_.reset (<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">try</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      indices_-&gt;resize (input_-&gt;points.size ());</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::bad_alloc&amp;)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[initCompute] Failed to allocate %lu indices.\n&quot;</span>, input_-&gt;points.size ());</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i) { (*indices_)[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(i); }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// If we have a set of fake indices, but they do not match the number of points in the cloud, update them</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">if</span> (fake_indices_ &amp;&amp; indices_-&gt;size () != input_-&gt;points.size ())</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">size_t</span> indices_size = indices_-&gt;size ();</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    indices_-&gt;resize (input_-&gt;points.size ());</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = indices_size; i &lt; indices_-&gt;size (); ++i) { (*indices_)[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(i); }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_a.html#acceb20854934f4cf77e266eb5a44d4f0">  171</a></span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">  174</a></span>&#160;<a class="code" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">pcl::PCLBase&lt;PointT&gt;::deinitCompute</a> ()</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;{</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_euclidean_cluster_extraction.html#afc426c4eebb94b7734d4fa556bff1420">  176</a></span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;}</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PCLBase(T) template class PCL_EXPORTS pcl::PCLBase&lt;T&gt;;</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_PCL_IMPL_BASE_HPP_</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_ab219359de6eb34c9d51e2e976dd1a0d1"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase::setIndices</a></div><div class="ttdeci">virtual void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_acceb20854934f4cf77e266eb5a44d4f0"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:139</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_af4fbc5eb005057f8a0fc6d60bde595df"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">pcl::PCLBase::PCLBase</a></div><div class="ttdeci">PCLBase()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_afc426c4eebb94b7734d4fa556bff1420"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">pcl::PCLBase::deinitCompute</a></div><div class="ttdeci">bool deinitCompute()</div><div class="ttdoc">This method should get called after finishing the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:174</div></div>
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